// --------------------------------------------------------------------------------------------------------------------
// <copyright file="SimpleGlobalMapModelAgent.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Navigation.Visualization
{
    using System.Runtime.Serialization;    

    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.Navigation.Runtime.Localization;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Visualization;
         
    /// <summary>
    /// Generates a model for visualization of the global map.
    /// </summary>
    [DataContract]
    public sealed class SimpleGlobalMapModelAgent : ModelAgent<SLAM2DAgentMessage, GlobalMapModel>
    {
        /// <summary>
        /// Global map file.
        /// </summary>
        [DataMember]
        private string mapFile;

        /// <summary>
        /// Initializes a new instance of the SimpleGlobalMapModelAgent class.
        /// </summary>
        /// <param name="name">The name of the agent.</param>
        /// <param name="mapProducer">The SLAM producer agent.</param>        
        /// <param name="maxUpdateIntervalMilliseconds">The max UI update interval.</param>
        /// <param name="mapFile">Global map file</param>     
        public SimpleGlobalMapModelAgent(
            string name,
            IProducer<SLAM2DAgentMessage> mapProducer,
            int maxUpdateIntervalMilliseconds,
            string mapFile = null)
            : base(name, mapProducer.Name, maxUpdateIntervalMilliseconds)
        {
            this.mapFile = mapFile;
        }

        /// <summary>
        /// Initialize the agent. 
        /// </summary>
        /// <param name="locator">The locator to use.</param>
        public override void Initialize(AgentLocator locator)
        {
            base.Initialize(locator);
            this.Model.InitializeWithMap(this.mapFile);
        }

        /// <summary>
        /// Update the model when a new map is received
        /// </summary>
        /// <param name="message">State containing a local map</param>
        /// <returns>True if the model was updated</returns>
        protected override bool UpdateModel(SLAM2DAgentMessage message)
        {
            this.Model.UpdateFromMap(message.Map);
            this.Model.UpdateFromPoses(message.Location, message.Poses);
            return true;
        }
    }
}
